中文核心期刊
CSCD来源期刊
中国科技核心期刊
RCCSE中国核心学术期刊

重庆交通大学学报(自然科学版) ›› 2009, Vol. 28 ›› Issue (6): 1126-1130.DOI: 10.3969/j.issn.1674-0696.2009.06.37

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六自由度重载装配机械手运动学分析及求解

罗天洪,熊小辉   

  1. 重庆交通大学机电与汽车工程学院,重庆400074
  • 收稿日期:2009-06-30 修回日期:2009-09-10 出版日期:2009-12-15 发布日期:2015-04-15
  • 作者简介:罗天洪(1975—),男,四川资阳人,副教授,博士后,主要从事机电液多领域仿真、数字化设计与分析的研究。 E-mail:xionxhui2005@163.com。
  • 基金资助:
    中国博士后基金项目( 20070420714); 博士点基金新教师基金项目( 200806111035)

Kinematics?Analysis?and?Solution?of?Heavy?Manipulator?with?6-DOF

LUO Tian-hong, XiONG Xiao-hui   

  1. ?School?of?Mechantronics?&?Automobile?Engineering,?Chongqing?Jiaotong?University,?Chongqing?400074,?China
  • Received:2009-06-30 Revised:2009-09-10 Online:2009-12-15 Published:2015-04-15

摘要: 针对汽车装配生产线作业对重载高精度的自动设备的需求,设计了一种液压驱动的六自由度多功能重载装 配机械手。运用Denavi??Hartenberg(D??H)方法构建了机械手的运动学模型,分析了重载装配机械手的工作原理和 正、逆运动学求解方法。从机械手的正、逆运动学方程的求解结果可以看出,采用液压方式实现对机械手6个自由 度的驱动,具有驱动力大、操作简单、安装准确的特点,可适应多种汽车重载装配的需要。

关键词: 装配机械手, Denavit??Hartenberg(D??H)法, 运动学分析

Abstract: Aiming?at?the?high?precision?demand?for?the?heavy?load?automobile?equipment?assembly?line,?a?multifunction?manipulator?with?6-DOF?is?designed,which?is?driven?by?hydraulic?pressure.?The?kinematics?model?of?the?manipulator?is?established?by?Denavi-Hartenberg(D-H)?method,?at?the?same?time?,the?working?principles?,forward?and?inverse?kinematics?solution?of?the?heavy?load?manipulator?assembly?are?analyzed.?According?to?the?solutions?of?manipulator's?forward?and?inverse?kinematics?equations,?the?drive?of?the?manipulator?with?6-DOF?is?realized?by?adopting?the?hydraulic?method,?which?has?many?merits,?such?as?the?greatness?of?drive?power,?the?simplicity?of?operatiom?and?the?accuracy?of?installation.?The?proposed?manipulator?assembly?is?adapt?to?various?kinds?of?automobile?assemblies.

Key words: manipulator assembly , Denavi-Hartenberg(D-H) method , kinematics analysis ;

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